﻿#!/usr/bin/env python
# -*- coding: utf-8 -*-
# -*- Python -*-


from __future__ import print_function
import sys
import time

import RTC
import OpenRTM_aist

consoleout_spec = ["implementation_id", "ConsoleOut",
                   "type_name", "ConsoleOut",
                   "description", "Console output component",
                   "version", "1.0",
                   "vendor", "Shinji Kurihara",
                   "category", "example",
                   "activity_type", "DataFlowComponent",
                   "max_instance", "10",
                   "language", "Python",
                   "lang_type", "script",
                   ""]


class DataListener(OpenRTM_aist.ConnectorDataListenerT):
    def __init__(self, name):
        self._name = name

    def __del__(self):
        print("dtor of ", self._name)

    def __call__(self, info, data):
        print("------------------------------")
        print("Listener:       ", self._name)
        print("Profile::name:  ", info.name)
        print("Profile::id:    ", info.id)
        print("Data:           ", data.data)
        print("------------------------------")
        return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE, data


class ConnListener(OpenRTM_aist.ConnectorListener):
    def __init__(self, name):
        self._name = name

    def __del__(self):
        print("dtor of ", self._name)

    def __call__(self, info):
        print("------------------------------")
        print("Listener:       ", self._name)
        print("Profile::name:  ", info.name)
        print("Profile::id:    ", info.id)
        print("------------------------------")
        return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE


class ConsoleOut(OpenRTM_aist.DataFlowComponentBase):
    def __init__(self, manager):
        OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
        return

    def onInitialize(self):
        self._data = RTC.TimedLong(RTC.Time(0, 0), 0)
        self._inport = OpenRTM_aist.InPort("in", self._data)
        # Set InPort buffer
        self.addInPort("in", self._inport)

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE,
                                              DataListener("ON_BUFFER_WRITE"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL,
                                              DataListener("ON_BUFFER_FULL"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT,
                                              DataListener("ON_BUFFER_WRITE_TIMEOUT"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE,
                                              DataListener("ON_BUFFER_OVERWRITE"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ,
                                              DataListener("ON_BUFFER_READ"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_SEND,
                                              DataListener("ON_SEND"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
                                              DataListener("ON_RECEIVED"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL,
                                              DataListener("ON_RECEIVER_FULL"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT,
                                              DataListener("ON_RECEIVER_TIMEOUT"))

        self._inport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR,
                                              DataListener("ON_RECEIVER_ERROR"))

        self._inport.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT,
                                          ConnListener("ON_CONNECT"))
        self._inport.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT,
                                          ConnListener("ON_DISCONNECT"))

        return RTC.RTC_OK

    def onExecute(self, ec_id):

        if self._inport.isNew():
            data = self._inport.read()
            print("Received: ", data)
            print("Received: ", data.data)
            print("TimeStamp: ", data.tm.sec, "[s] ", data.tm.nsec, "[ns]")

        return RTC.RTC_OK


def ConsoleOutInit(manager):
    profile = OpenRTM_aist.Properties(defaults_str=consoleout_spec)
    manager.registerFactory(profile,
                            ConsoleOut,
                            OpenRTM_aist.Delete)


def MyModuleInit(manager):
    ConsoleOutInit(manager)

    # Create a component
    comp = manager.createComponent("ConsoleOut")


def main():
    # Initialize manager
    mgr = OpenRTM_aist.Manager.init(sys.argv)

    # Set module initialization proceduer
    # This procedure will be invoked in activateManager() function.
    mgr.setModuleInitProc(MyModuleInit)

    # Activate manager and register to naming service
    mgr.activateManager()

    # run the manager in blocking mode
    # runManager(False) is the default
    mgr.runManager()

    # If you want to run the manager in non-blocking mode, do like this
    # mgr.runManager(True)


if __name__ == "__main__":
    main()
